ELCT/linux_sentry_chassis
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refactor: 重构架构并整理仓库

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Horldsence
2026-09-23 10:56:57 +08:00
parent 680adae339
commit f8aeafdfc2
101 changed files with 14417 additions and 11399 deletions
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Cargo.lock
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+215 -79
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@@ -113,6 +113,23 @@ version = "1.5.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f2032f911046de80f0a198e0901378627c33f59ea0ac00e363d481118bd70a53"
[[package]]
name = "bench"
version = "0.1.0"
dependencies = [
"anyhow",
"can",
"esc-bus",
"experiment",
"motor",
"motor-control",
"slcan 0.1.0",
"socketcan 0.1.0",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "bit-set"
version = "0.8.0"
@@ -153,7 +170,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
[[package]]
name = "can-link"
name = "can"
version = "0.1.0"
dependencies = [
"tokio",
@@ -181,30 +198,15 @@ version = "0.2.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f079e83a288787bcd14a6aea84cee5c87a67c5a3e660c30f557a3d24761b3527"
[[package]]
name = "chassis-bench"
version = "0.1.0"
dependencies = [
"can-link",
"clap",
"dji-esc",
"dji-esc-sim",
"dji-esc-slcan",
"dji-esc-socketcan",
"motor-core",
"thiserror",
"tokio",
"tracing",
"tracing-subscriber",
]
[[package]]
name = "chassis-config"
version = "0.1.0"
dependencies = [
"dji-esc",
"approx",
"esc-bus",
"mecanum",
"motor-core",
"motor-control",
"motor-protocol",
"serde",
"thiserror",
"toml",
@@ -218,25 +220,32 @@ dependencies = [
"approx",
"argmin",
"argmin-math",
"can-link",
"chassis-bench",
"bench",
"can",
"chassis-config",
"clap",
"csv",
"dji-esc",
"dji-esc-sim",
"esc-bus",
"experiment",
"indicatif",
"motor-core",
"motor",
"motor-control",
"motor-model",
"motor-protocol",
"plotters",
"rand",
"rayon",
"serde",
"serde_json",
"sim-harness",
"slcan 0.1.0",
"socketcan 0.1.0",
"thiserror",
"tokio",
"toml",
"tracing",
"tracing-subscriber",
"tuning",
]
[[package]]
@@ -244,15 +253,15 @@ name = "chassisd"
version = "0.1.0"
dependencies = [
"approx",
"can",
"chassis-config",
"clap",
"dji-esc",
"dji-esc-sim",
"dji-esc-socketcan",
"esc-bus",
"mecanum",
"motor-core",
"proptest",
"thiserror",
"motor",
"motor-control",
"sim-harness",
"socketcan 0.1.0",
"tokio",
"tracing",
"tracing-subscriber",
@@ -449,6 +458,27 @@ dependencies = [
"syn 2.0.119",
]
[[package]]
name = "delta10"
version = "0.1.0"
dependencies = [
"can",
"delta10-protocol",
"imu",
"thiserror",
"tokio",
]
[[package]]
name = "delta10-protocol"
version = "0.1.0"
dependencies = [
"approx",
"can",
"imu",
"thiserror",
]
[[package]]
name = "derive_builder"
version = "0.20.2"
@@ -501,53 +531,6 @@ dependencies = [
"windows-sys",
]
[[package]]
name = "dji-esc"
version = "0.1.0"
dependencies = [
"can-link",
"motor-core",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "dji-esc-sim"
version = "0.1.0"
dependencies = [
"can-link",
"dji-esc",
"motor-core",
"rand",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "dji-esc-slcan"
version = "0.1.0"
dependencies = [
"can-link",
"serial",
"slcan",
"tokio",
"tracing",
]
[[package]]
name = "dji-esc-socketcan"
version = "0.1.0"
dependencies = [
"can-link",
"dji-esc",
"motor-core",
"socketcan",
"tokio",
"tracing",
]
[[package]]
name = "dlib"
version = "0.5.3"
@@ -606,6 +589,30 @@ dependencies = [
"windows-sys",
]
[[package]]
name = "esc-bus"
version = "0.1.0"
dependencies = [
"approx",
"can",
"experiment",
"motor",
"motor-control",
"motor-model",
"motor-protocol",
"sim-harness",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "experiment"
version = "0.1.0"
dependencies = [
"approx",
]
[[package]]
name = "fastrand"
version = "2.5.0"
@@ -839,6 +846,10 @@ version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
[[package]]
name = "imu"
version = "0.1.0"
[[package]]
name = "indexmap"
version = "2.14.2"
@@ -990,8 +1001,41 @@ dependencies = [
]
[[package]]
name = "motor-core"
name = "motor"
version = "0.1.0"
dependencies = [
"approx",
"can",
"motor-protocol",
"thiserror",
]
[[package]]
name = "motor-control"
version = "0.1.0"
dependencies = [
"approx",
"motor",
"pid",
]
[[package]]
name = "motor-model"
version = "0.1.0"
dependencies = [
"approx",
"motor-protocol",
]
[[package]]
name = "motor-protocol"
version = "0.1.0"
dependencies = [
"approx",
"can",
"proptest",
"thiserror",
]
[[package]]
name = "nb"
@@ -1143,6 +1187,13 @@ dependencies = [
"rustc_version",
]
[[package]]
name = "pid"
version = "0.1.0"
dependencies = [
"approx",
]
[[package]]
name = "pin-project-lite"
version = "0.2.17"
@@ -1546,12 +1597,41 @@ dependencies = [
"libc",
]
[[package]]
name = "sim-harness"
version = "0.1.0"
dependencies = [
"approx",
"can",
"experiment",
"motor",
"motor-control",
"motor-model",
"motor-protocol",
"rand",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "slab"
version = "0.4.12"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
[[package]]
name = "slcan"
version = "0.1.0"
dependencies = [
"can",
"serial",
"slcan 0.1.3",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "slcan"
version = "0.1.3"
@@ -1577,6 +1657,21 @@ dependencies = [
"windows-sys",
]
[[package]]
name = "socketcan"
version = "0.1.0"
dependencies = [
"can",
"esc-bus",
"motor",
"motor-control",
"motor-protocol",
"socketcan 4.0.0",
"thiserror",
"tokio",
"tracing",
]
[[package]]
name = "socketcan"
version = "4.0.0"
@@ -1598,6 +1693,24 @@ dependencies = [
"tokio",
]
[[package]]
name = "spin"
version = "0.1.0"
dependencies = [
"bench",
"clap",
"esc-bus",
"experiment",
"mecanum",
"motor",
"motor-control",
"slcan 0.1.0",
"socketcan 0.1.0",
"tokio",
"tracing",
"tracing-subscriber",
]
[[package]]
name = "strsim"
version = "0.11.1"
@@ -1809,6 +1922,29 @@ version = "0.20.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
[[package]]
name = "tuning"
version = "0.1.0"
dependencies = [
"approx",
"argmin",
"argmin-math",
"experiment",
"indicatif",
"motor-control",
"motor-model",
"motor-protocol",
"pid",
"proptest",
"rand",
"rayon",
"serde",
"sim-harness",
"thiserror",
"toml",
"tracing",
]
[[package]]
name = "unarray"
version = "0.1.4"